High-simulation environment lunar surface sample collection and in-situ packaging test system and method

Abstract

The invention relates to a high-simulation environment lunar surface sample collection and in-situ packaging test system and method, and the system comprises a vacuum device, a thermal environment simulation device, a lunar surface sample collection device, a sample packaging device, a lunar soil simulation device, a low-gravity simulation device, a supporting tool, a temperature measurement and control unit, and a monitoring illumination unit. The thermal environment simulation device is installed in the vacuum device, the lunar surface sample collection device, the sample packaging device and the low-gravity simulation device are arranged on the supporting tool, the lunar soil simulation device is fixedly installed on the six-degree-of-freedom platform, and all the devices are connected with an external controller through cabin penetrating cables. The vacuum device, the thermal environment simulation device and the low-gravity simulation device achieve establishment of a high vacuum-wide temperature range-low gravity coupled high-simulation real lunar surface environment, the lunar surface sample collection device is used for reliably collecting simulated lunar soil samples, and then the sample packaging device is used for packaging the simulated lunar soil samples into the sample container in situ. And the collection and in-situ packaging process of the shallow lunar soil sample in the lunar surface environment can be truly simulated.

Description

Technical Field

[0001] The present invention relates to a highly simulated environment lunar sample collection and in-situ packaging test system and method, which can be used to guide simulated lunar environment sample collection and packaging tests conducted on the ground, and belongs to the technical field of deep space exploration system tests. Background Art

[0002] The lunar polar regions have unique geographical location, rich mineral resources, and possible water ice, so their scientific exploration value and research significance are of great importance. my country's "Lunar Exploration Phase IV" mission is also preparing to land at the lunar South Pole to establish a long-term unmanned and short-term manned scientific research base. As an important material and energy raw material for deep space exploration activities, especially manned exploration activities, water ice resources play a very prominent and critical role. Due to the extreme low temperature environment of the moon, its water ice resources may be mainly hidden in the lunar soil in the permanent shadow area, and the existence form is complex and the uncertainty is significant, which poses a huge challenge to its development and utilization in subsequent deep space exploration engineering missions.

[0003] In the previous ground verification test of extraterrestrial body sampling, the main thing to verify is the adaptability and engineering envelope of the sampling device for extraterrestrial soil under different working conditions. There are few studies on soil sampling in simulated space environment, but there is no research on low-disturbance and high-fidelity collection of lunar soil under vacuum and deep low temperature conditions in the lunar polar region. This situation often leads to the disturbance of lunar soil that is coupled with the machine during the sampling process, especially the inadequate assessment and verification of water loss in the water-containing lunar soil, and it is impossible to fully understand the impact of sampling tools and sampling strategies on the water content in deep low temperature lunar soil, let alone improvement and improvement.

[0004] In order to realize reliable detection of water ice in the lunar polar region in the future, the verification of low-disturbance and high-fidelity lunar soil sampling equipment and its sampling procedures is indispensable. Therefore, it is necessary to propose a highly simulated environment lunar surface sample collection and in-situ packaging test system and method for polar lunar soil sampling and detection. The system should be able to simulate the deep low temperature environment of the lunar polar region and ensure that the collected samples maintain their in-situ physical and chemical properties, laying a solid engineering foundation for the development and utilization of water ice resources in the lunar polar region of my country. Summary of the invention

[0005] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art and provide a highly realistic environment lunar sample collection and in-situ packaging test system and method, which can simulate the lunar environment with high realism, and ensure that the collected samples maintain their in-situ physical and chemical properties through reliable packaging, and ensure that the sampling process does not destroy the original occurrence state of water ice, which can be used to further improve the scientificity and effectiveness of the evaluation of low-disturbance and high-fidelity in-situ collection methods for lunar samples.

[0006] The technical solution of the present invention is: a highly simulated environment lunar sample collection and in-situ packaging test system, including a vacuum device, a thermal environment simulation device, a lunar sample collection device, a sample packaging device, a simulated lunar soil device, a low gravity simulation device, a support tooling, and a monitoring and control unit;

[0007] The simulated lunar soil device provides simulated lunar soil samples for the experiment;

[0008] The low-gravity simulation device simulates the lunar gravity field for the lunar sample collection device;

[0009] The supporting tooling is used to install the lunar surface sample collection device and the sample packaging device, and to drive the simulated lunar soil device to move to achieve sampling at different locations;

[0010] The lunar surface sample collection device is used to collect simulated lunar soil samples and transfer the samples to the sample packaging device; the sample packaging device performs in-situ packaging of the collected samples;

[0011] The monitoring unit first controls the vacuum device to provide a simulated lunar vacuum environment for the test according to a predetermined procedure; then controls the thermal environment simulation device to provide a lunar deep low temperature and high temperature environment for the test, and at the same time actively controls the temperature of the lunar sample collection device, sample packaging device, and low gravity simulation device to ensure the temperature control requirements of their work;

[0012] The monitoring and control unit first controls the thermal environment simulation device to place the simulated lunar soil samples in the simulated lunar soil device in a deep low temperature environment below -180°C on the lunar surface and maintain it until the end of the test; then, according to the predetermined procedures, a simulated lunar vacuum environment is provided for the test; then, according to the test requirements, the lunar sample collection device and the sample packaging device are cooled or heated, and at the same time, the lunar sample collection device, the sample packaging device, and the low-gravity simulation device are actively temperature-controlled to ensure their working temperature control requirements;

[0013] The predetermined procedure is to set at least two pressure holding points during the entire vacuuming process, one pressure holding point has a pressure of 8000-12000Pa, and the pressure holding time is 1-2h; the other pressure holding point has a pressure of 80-120Pa, and the pressure holding time is 1-2h. If there are three pressure holding points, the third pressure holding point is 0.8-1.2Pa, and the pressure holding time is 1-2h.

[0014] Preferably, the basaltic and plagioclase raw materials of the simulated lunar soil samples simulate the lunar sea, lunar continent or polar lunar soil, and are mixed by simulated lunar soil particles of different sizes according to a certain particle size grading, in which the particle size below 1 mm accounts for 70-90%, and the particle size above 1 mm accounts for 10-30%. The simulated lunar soil is compacted by a vibration table to achieve an average density of 65-85%.

[0015] Preferably, the low-gravity simulation device includes a rotary support arm and a counterweight; the lunar surface sample collection device includes a space robot arm and a sampler; the support tooling includes a tooling bracket and a six-degree-of-freedom platform;

[0016] The revolving arm and the space robot arm are both installed on the tooling bracket in a cantilever manner. The revolving arm includes a mounting bracket, a balance bar, and a lifting structure. The mounting bracket is used to achieve a cantilever connection with the tooling bracket. The balance bar is installed below the cantilever end of the mounting bracket through a connecting rod and a hinge. One end of the lifting structure is installed on the balance bar through a pulley and a rope, and the other end is connected to the end arm of the space robot arm. A counterweight is installed on the balance bar to offset 5 / 6 of the gravity of the space robot arm and simulate the 1 / 6 gravity environment on the lunar surface. A sampler is installed at the end of the space robot arm. A simulated lunar soil device is installed on a six-degree-of-freedom platform to adjust the angle of the simulated lunar soil device to simulate different terrain features on the lunar surface.

[0017] Preferably, the simulated lunar soil device is a lunar soil barrel for holding simulated lunar soil; the lunar soil barrel comprises a barrel body, a core barrel and a lunar soil temperature sensor, the outer wall of the barrel body is provided with a hollow interlayer, and liquid inlet joints and liquid outlet joints are provided at the upper and lower ends of the outer side of the barrel body, and passing liquid nitrogen into the barrel body can provide a deep low temperature environment for the simulated lunar soil; a lunar soil temperature sensor is buried inside the simulated lunar soil to obtain the temperature of the simulated lunar soil; the core barrel is provided with holes and a metal screen is provided on one side in contact with the simulated lunar soil, and the other side is hollow to exclude gas inside the simulated lunar soil; the metal screen realizes the exhaust of the simulated lunar soil in a vacuum environment and ensures that the simulated lunar soil will not leak into the core barrel.

[0018] Preferably, the vacuum device includes a vacuum tank, a vacuum pumping unit, a cold plate and a vacuum gauge; the thermal environment simulation device includes a liquid nitrogen refrigeration system and a quartz lamp, wherein the liquid nitrogen refrigeration system is composed of a heat sink and a liquid nitrogen circulation system; the monitoring and control unit includes a temperature sensor, a heating plate, a camera, an LED lamp and peripheral equipment, wherein the peripheral equipment is a power supply, a temperature control management system and a measurement and control computer;

[0019] The liquid nitrogen circulation system, vacuum pumping unit, vacuum gauge, power supply, temperature control management system and measurement and control computer are all placed outside the vacuum tank. The liquid nitrogen circulation system is connected to the vacuum tank through a low-temperature hose to provide liquid nitrogen for the cold plate and heat sink. The vacuum tank is connected to the vacuum pumping unit through a sealed pipeline. The vacuum gauge is located on the top of the side wall of the vacuum tank; the cold plate, heat sink, lunar surface sample collection device, sample packaging device, simulated lunar soil device, low gravity simulation device and support tooling are all placed inside the cylindrical vacuum tank.

[0020] Preferably, the cold plate and the heat sink are composed of a copper plate cavity painted with black paint. The heat sink is installed on the outside of the lunar sample collection device, the sample packaging device, the simulated lunar soil device, the low gravity simulation device and the supporting tooling, and the distance between the above-mentioned equipment and the heat sink is kept as close as possible. The cold plate is arranged on the outside of the heat sink, close to the exhaust port of the vacuum pumping unit.

[0021] Preferably, the low temperature of the lunar sample collection device inside the vacuum tank is a low-temperature test environment obtained by introducing liquid nitrogen into the heat sink to cool the heat sink cylinder; the high temperature is a high-temperature environment obtained by heating with a quartz lamp; and the high and low temperature alternating environment regulation in the vacuum tank is achieved by alternating liquid nitrogen cooling through the heat sink and quartz lamp heating to meet different lunar surface high and low temperature test requirements.

[0022] Preferably, the vacuum pumping unit uses a pre-pump to pump the pressure in the vacuum tank to below 0.1 Pa, then passes liquid nitrogen through the cold plate, and after the temperature of the cold plate drops below -180°C, the molecular pump is turned on to reduce the pressure in the vacuum tank to 10 -3 Below Pa.

[0023] A highly realistic lunar surface sample collection and in-situ packaging test method implemented by the highly realistic lunar surface sample collection and in-situ packaging test system comprises the following steps:

[0024] S1: Check system parameter settings and working status;

[0025] S2: Control the thermal environment simulation device to place the simulated lunar soil sample in the simulated lunar soil device in a deep low temperature environment below -180°C on the lunar surface and maintain it until the end of the test; evacuate the sample according to the predetermined procedure;

[0026] S3. Cool down or heat up the lunar sample collection device and sample packaging device according to the test requirements, and actively control the temperature through the monitoring and control unit;

[0027] S4: After all environmental and device parameters meet the conditions required for the test, the lunar surface sample collection device is controlled by the measurement and control computer to simulate lunar soil sampling. After sampling, the sample is sent to the sample packaging device for sample packaging. After all test conditions are completed, the test data is saved and the lunar surface sample collection device is restored to the parking configuration;

[0028] S5: Stop the temperature control in S3, wait until the temperature of each device and installation in the vacuum tank returns to normal temperature and pressure, and then take out the sample tank used to hold the simulated lunar soil sample.

[0029] The beneficial effects of the present invention compared with the prior art are:

[0030] (1) The vacuum pumping preset procedure proposed in the present invention sets at least two pressure holding points during the entire vacuum pumping process to achieve a slow and full release of the gas inside the simulated lunar soil. This can avoid abnormal phenomena such as churning and gas explosions in the simulated lunar soil during the pumping process, thereby ensuring the accuracy of the sampling test index assessment.

[0031] (2) The highly realistic lunar sample collection and in-situ packaging test system proposed in the present invention is equipped with a vacuum device, a thermal environment simulation device and a monitoring and control unit, which can establish a high-fidelity lunar extreme environment of high vacuum and deep low temperature for sampling experiments.

[0032] (3) The simulated lunar soil in the highly realistic environment lunar sample collection and in-situ packaging test system proposed in the present invention has similar characteristics to the real lunar soil in terms of mineral composition, particle morphology, particle size distribution, density, water content and temperature, and can achieve high-fidelity simulation of the real lunar soil.

[0033] (4) During the whole process of the test, the temperature of the simulated lunar soil can be maintained in a deep low temperature environment below -180°C, and the high vacuum environment will not affect the assessment of the water loss rate during the sampling process of the water-containing simulated lunar soil. The present invention uses a sample packaging device to quickly package the collected lunar soil samples, so that the water content of the samples is not affected by the test environment temperature and vacuum degree, ensuring that the sampling process does not destroy the original occurrence state of water ice, and the water content of the packaged samples is measured after the vacuum tank is switched on and off, which can be used to further improve the scientificity and effectiveness of the evaluation of the low-disturbance and high-fidelity in-situ collection method for lunar samples. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a composition diagram of a highly simulated environment lunar sample collection and in-situ packaging test system in an embodiment of the present invention;

[0035] Figure 2 This is a flow chart of a highly simulated environment lunar sample collection and in-situ packaging test in an embodiment of the present invention;

[0036] Figure 3 This is a diagram showing the composition of the lunar soil bucket in an embodiment of the present invention;

[0037] Figure 4 It is a composition diagram of the lunar sample collection device in an embodiment of the present invention;

[0038] Figure 5 Schematic diagram of the sample packaging device in an embodiment of the present invention. DETAILED DESCRIPTION

[0039] The specific embodiments of the present invention are further described in detail below with reference to the accompanying drawings.

[0040] The present invention establishes a highly simulated lunar environment of high vacuum-wide temperature range-low gravity coupling through a vacuum device 1, a thermal environment simulation device 2 and a low gravity simulation device 6, and uses a lunar sample collection device 3 to reliably collect simulated lunar soil 51 samples. Subsequently, a sample packaging device 4 is used to package the simulated lunar soil 51 samples in situ into a sample tank 42, which can realistically simulate the collection and in-situ packaging process of shallow lunar soil samples in the lunar environment.

[0041] like Figure 1 As shown, the present invention proposes a highly simulated environment lunar sample collection and in-situ packaging test system, comprising:

[0042] Vacuum device 1: includes a vacuum tank 11, a vacuum pumping unit 12, a cold plate 13 and a vacuum gauge 14, which provide a high vacuum environment simulating the lunar surface for the experiment.

[0043] Thermal environment simulation device 2: includes a liquid nitrogen refrigeration system 21 and a quartz lamp 22, wherein the liquid nitrogen refrigeration system 21 is composed of a heat sink 211 and a liquid nitrogen circulation system 212. The liquid nitrogen refrigeration system 21 provides a deep low temperature test environment on the lunar surface for the test by cooling, and the quartz lamp 22 provides a high temperature test environment on the lunar surface for the test by heating.

[0044] Lunar surface sample collection device 3: includes a space robot arm 31 and a sampler 32, used to collect simulated lunar soil 52 samples and transfer the samples to a sample tank 42.

[0045] Sample packaging device 4: includes a packaging mechanism 41 and a sample tank 42, which performs in-situ packaging on the collected samples;

[0046] The simulated lunar soil device 5 includes the simulated lunar soil 51 and the lunar soil bucket 52, which provide sampling objects for the experiment.

[0047] The low-gravity simulation device 6 includes a rotating support arm 61 and a counterweight 62, which simulates a 1 / 6 low-gravity field on the lunar surface for the lunar sample collection device 3.

[0048] Support tooling 7: includes a tooling bracket 71 and a six-degree-of-freedom platform 72, which is used to install the lunar surface sample collection device 3 and the sample packaging device 4, and drive the simulated lunar soil device 5 to move to achieve sampling at different positions.

[0049] Monitoring and control unit 8: includes temperature sensor 81, heating plate 82, monitoring camera 83, LED light 84 and peripheral equipment 85, wherein the peripheral equipment is power supply 851, temperature control management system 852 and measurement and control computer 853.

[0050] The connection relationship of this system is as follows: the liquid nitrogen circulation system 212, the vacuum pumping unit 12, the vacuum gauge 14, the power supply 851, the temperature control management system 852 and the measurement and control computer 853 are all placed outside the vacuum tank 11. The liquid nitrogen circulation system 212 is connected to the vacuum tank 11 through a low-temperature hose to provide liquid nitrogen for the cold plate 13 and the heat sink 211. The cold plate 13 and the heat sink 211 are composed of a copper plate cavity painted with black paint. The surface temperature of the cold plate is close to the liquid nitrogen temperature due to the refrigeration effect of liquid nitrogen, and the gas molecules condense, thereby improving the molecular pumping efficiency; the vacuum tank 11 is connected to the vacuum pumping unit 12 through a sealed pipeline, and the vacuum gauge 14 is located on the top of the vacuum tank 11; the cold plate 13, the heat sink 211, the lunar sample collection The collecting device 3, the sample packaging device 4, the simulated lunar soil device 5, the low-gravity simulation device 6 and the supporting tooling 7 are all placed inside the cylindrical vacuum tank 11; the space robot 31, the sample packaging device 4 and the quartz lamp 22 are installed on the upper part of the tooling bracket 71, the low-gravity simulation device 6 is connected to the space robot 31, and the simulated lunar soil device 5 is placed on the surface of the six-degree-of-freedom platform 72; the space robot 31, the packaging mechanism 41, the six-degree-of-freedom platform 72 and the measurement and control computer 853 are connected to the power supply 851, the vacuum pumping unit 12, the various components in the monitoring and control unit 8 and the temperature control management system 852 are connected to the power supply 851, and the collection and storage of various measurement signals are completed through the temperature control management system 852.

[0051] like Figure 1 As shown, the revolving support arm 61 and the space robot arm 31 are both mounted on the tooling bracket 71 in a cantilever manner, and the revolving support arm includes a mounting bracket, a balance bar, and a lifting structure; the mounting bracket is used to realize a cantilever connection with the tooling bracket, and the balance bar is installed below the cantilever end of the mounting bracket through a connecting rod and a hinge, one end of the lifting structure is installed on the balance bar through a pulley and a rope, and the other end is connected to the end arm of the space robot arm, and a counterweight is installed on the balance bar to offset 5 / 6 of the gravity of the space robot arm and simulate 1 / 6 of the gravity environment on the lunar surface; a sampler is installed at the end of the space robot arm; a simulated lunar soil device is installed on a six-degree-of-freedom platform to adjust the angle of the simulated lunar soil device to simulate different terrain features on the lunar surface.

[0052] The vacuum tank 11 is mainly composed of a vacuum tank with a vertical cylindrical structure. A vacuum tank door is installed at the front and top of the vacuum tank 11 and is sealed with a fluororubber ring. An air inlet and outlet valve 111 and multiple flange interfaces are provided on the side wall of the vacuum tank 11. The multiple flange interfaces include a vacuum flange interface, a vacuum measurement flange interface, a liquid nitrogen pipeline flange interface, a functional flange interface and a test flange interface.

[0053] The vacuum pumping unit 12 includes a pre-pump 121 and a molecular pump 122, both of which are connected to the vacuum tank 11 through a metal sealing pipeline. A rough pumping valve 122 and a molecular pump valve 124 are respectively provided on the metal sealing pipeline to obtain a high vacuum environment of the equipment by controlling the pumping program.

[0054] The low temperature of the lunar sample collection device 3 inside the vacuum tank 11 is a low temperature test environment obtained by introducing liquid nitrogen into the heat sink 211 to cool the cylinder of the heat sink 211; the high temperature is a high temperature environment obtained by heating with the quartz lamp 22; the high and low temperature alternating environment regulation in the vacuum tank 11 is achieved by alternating cooling with liquid nitrogen through the heat sink 211 and heating with the quartz lamp 22 to meet different high and low temperature test requirements on the lunar surface.

[0055] The lunar soil sample collection process is that the measurement and control computer 853 controls the movement of the empty lunar surface sample collection device 3, and the sampler 32 at the end of the space robot arm 31 shovels and samples the simulated lunar soil 51 in the lunar soil bucket 52. After the sampling is completed, the space robot arm 31 sends the sample to the sample receiving port of the sample packaging device 4, and pours the sample into the sample tank 42. Finally, the space robot arm 31 moves to the parking position to complete the sample collection. During this period, the low-gravity device 6 provides the space robot arm 31 with low gravity compensation on the lunar surface; the position of the lunar soil bucket 52 is changed by the movement of the six-degree-of-freedom platform 72, so as to provide multiple sampling points for the lunar surface sample collection device.

[0056] The in-situ packaging process of the lunar soil samples is as follows: the rotating module 411 of the packaging mechanism 41 drives the sample can 42 that has completed receiving the sample to rotate from the sample receiving position to the packaging position; the pressing module 412 of the packaging mechanism 41 presses the can cover 421 down to contact the sample can 42, and then the screwing module 413 tightens the can cover 421 to complete the in-situ packaging of the sample; an indium alloy sealing ring is arranged between the contact position between the can cover 421 and the sample can 42 to achieve reliable sealing of the sample can 42.

[0057] The lunar soil barrel 52 includes a barrel body 521, a core barrel 522 and a lunar soil temperature sensor 523. The outer wall of the barrel body 521 is provided with a hollow interlayer, and liquid inlet joints and liquid outlet joints are provided at the upper and lower ends of the outer side of the barrel body. Liquid nitrogen is introduced into the barrel body to provide a deep low temperature environment for the simulated lunar soil 51; a lunar soil temperature sensor 523 is buried inside the simulated lunar soil 51, and the temperature of the simulated lunar soil 51 can be read by connecting it to an external temperature inspection instrument; the core barrel is provided with holes and a metal screen is provided on the side in contact with the simulated lunar soil 51 to achieve the exhaust of the simulated lunar soil 51 in a vacuum environment.

[0058] The lunar surface environment simulation, sample collection and in-situ packaging, and control of the six-degree-of-freedom platform 72 are carried out by the measurement and control computer 853 which communicates with the PLC, intelligent temperature controller, temperature patrol meter and vacuum tester of each control unit of the lower computer, and collects the parameters of each instrument in real time. At the same time, the measurement and control computer 853 sends instructions to the corresponding control units of the lower computer to realize effective control and management of each control unit.

[0059] like Figure 2 As shown, the present invention also proposes a highly simulated environment lunar sample collection and in-situ packaging test method, comprising the following steps:

[0060] Step 1: According to the test requirements, basaltic and plagioclase raw materials are used in different proportions to simulate the lunar sea (100% basaltic raw material), lunar land (20% basaltic raw material + 80% plagioclase raw material) or polar lunar soil (20% basaltic raw material + 80% plagioclase raw material) to prepare simulated lunar soil 51, and simulated lunar soil particles of different sizes are mixed according to a certain particle size grading, among which the particle size below 1 mm accounts for 70-90%, and the particle size above 1 mm accounts for 10-30%. The simulated lunar soil is compacted by a vibration table to achieve an average density of 65-85%, and a lunar soil temperature sensor 523 is pre-embedded in the simulated lunar soil 51; the parameter settings and working status of each device and equipment in the system are checked.

[0061] Step 2: Hoist the lunar soil bucket 53 to the surface of the six-degree-of-freedom platform 72 and fix it, use metal hoses to connect the liquid nitrogen inlet and outlet interfaces of the lunar soil bucket 52 to the liquid nitrogen circulation system 212, use liquid nitrogen to cool the lunar soil bucket 52, cover the outside of the lunar soil bucket 52 with multiple layers, and connect the lunar soil temperature sensor 523 cable embedded in the lunar soil bucket to the temperature control management system 852 through the cabin cable for real-time monitoring.

[0062] After confirming the status of the monitoring camera 83 and the LED light 84, the door of the vacuum tank 11 is closed.

[0063] Turn on the power of the pre-pump 121, open the rough pump valve 122, and perform vacuuming according to the established procedures. When the vacuum degree is lower than 0.1 Pa, close the pre-pump 121 and the rough pump valve 122.

[0064] Liquid nitrogen is passed through the cold plate 13 to make the surface temperature of the cold plate 13 lower than -180°C, and the gas molecules condense on the surface of the lamp board. The power of the molecular pump 123 is turned on, and the valve 124 of the molecular pump is opened until the vacuum degree in the vacuum tank is lower than 10 -3 Pa.

[0065] Step three: According to the test requirements, the heat sink 211 passes liquid nitrogen to cool down the lunar sample collection device 3 and the sample tank 42, or turns on the quartz lamp 22 to heat them up. At the same time, the temperature of the lunar sample collection device, the sample packaging device, and the low-gravity simulation device are actively controlled through the temperature measurement and control system 852. The temperature sensor 81 and the heating plate 82 are respectively arranged on the driving motor of the lunar sample collection device, the sample packaging device, and the rotating shaft of the low-gravity simulation device.

[0066] Step 4: After all environmental and device parameters meet the conditions required for the test, the lunar surface sample collection device 3 is controlled by the measurement and control computer 853 to sample the simulated lunar soil 51. After sampling, the sample is sent to the sample tank 42, and the sample is packaged by the packaging mechanism 41. After all test conditions are completed, the test data is saved and the lunar surface sample collection device 3 returns to the parking configuration.

[0067] Step 5: Stop the temperature control of the heat sink 211 or the quartz lamp 22, wait for the temperature of each device and device in the vacuum tank 11 to return to normal temperature, then turn off the power supply of the molecular pump 123 and the molecular pump valve 124, open the air inlet and outlet valve 111, restore the vacuum tank 11 to normal pressure, open the vacuum tank 11, and take out the sample tank 42.

[0068] Example:

[0069] Reference Figure 2 , shows a flow chart of the steps of a highly realistic environment lunar sample collection and in-situ packaging test method in an embodiment of the present invention. In an embodiment of the present invention, the highly realistic environment lunar sample collection and in-situ packaging test method includes:

[0070] Step S1: According to the test requirements, a lunar soil bucket 52 is used to prepare a simulated lunar soil 51, and a temperature sensor 523 is pre-embedded in the simulated lunar soil 51. In this embodiment, the preparation parameters of the simulated lunar soil 51 are shown in the following table:

[0071]

[0072] Check the parameter settings and working status of the lunar sample collection device 3, sample packaging device 4 and monitoring and control unit 8 in the system.

[0073] Step S2: hoist the lunar soil bucket 52 to the surface of the six-degree-of-freedom platform 72 and fix it, use a metal hose to connect the liquid nitrogen inlet and outlet interfaces of the lunar soil bucket 52 to the liquid nitrogen circulation system 212, and use liquid nitrogen to cool the lunar soil bucket 52. The outside of the lunar soil bucket 52 is coated with multiple layers to improve the cooling effect of the simulated lunar soil 51. The cable of the lunar soil temperature sensor 523 pre-buried in the lunar soil bucket 52 is connected to the temperature control management system 852 through a cabin cable for real-time monitoring.

[0074] Confirm the status of the monitoring camera 83 and the LED light 82, and then close the door of the vacuum tank 11. In this embodiment, a total of 3 monitoring cameras are set up, which are used to monitor the lunar soil sampling process, the sample transfer process and the sample packaging process respectively.

[0075] Turn on the power of the pre-pump 121, open the rough pump valve 122, and perform air extraction according to the established procedures. When the vacuum degree of the vacuum tank 11 is lower than 0.1 Pa, close the pre-pump 121 and the rough pump valve 122. In this embodiment, in order to reduce abnormal phenomena such as churning and gas explosion of the simulated lunar soil 51 in a vacuum environment, which affects the accuracy of the sampling test index assessment, the air extraction procedure of the vacuum device 1 is shown in the following table:

[0076] index Holding pressure Holding time Holding point 1 10000Pa 1h Holding point 2 100Pa 1h

[0077] Use the liquid nitrogen circulation system 212 to pass liquid nitrogen through the cold plate 13, turn on the power of the molecular pump 123, and open the molecular pump valve 124 until the vacuum degree in the vacuum tank 11 is lower than 10 -3 Pa.

[0078] Step S3: According to the test requirements, the liquid nitrogen circulation system 212 is used to pass liquid nitrogen through the heat sink 211 to cool the lunar sample collection device 3 and the sample tank 42, and the temperature measurement and control system 852 is used to actively control the temperature of the lunar sample collection device 3, the sample packaging device 4 and the low gravity simulation device 6. In this embodiment, the temperature control requirements of each device, mechanism and tooling are shown in the following table:

[0079]

[0080] Step S4: After the environmental vacuum degree meets the requirement of less than 1×10-3Pa and the temperature parameters of each device meet the temperature control conditions required for the test, the lunar surface sample collection device 3 is controlled by the measurement and control computer 853 to sample the simulated lunar soil 51. In this embodiment, the lunar surface sample collection device 3 is composed of a four-degree-of-freedom space robot 31 and a shovel-type sampler 32. Figure 3 As shown, the collection of simulated lunar soil 51 is achieved through the linkage of multiple joints 312.

[0081] After sampling, the space robot 31 delivers the sample into the sample tank 42, and the lunar soil sample is packaged in situ by the sample packaging device 4. The structure of the sample packaging device 4 is as follows: Figure 5As shown, the process is as follows: the rotating module 411 of the packaging mechanism 41 drives the sample can 42 that has been received to rotate from the sample receiving position to the packaging position, the pressing module 412 presses the can cover 421 down to contact the sample can 42, and then the screwing module 413 tightens the can cover 421 to complete the in-situ packaging of the sample; an indium alloy sealing ring is set between the contact position between the can cover 421 and the sample can 42 to achieve reliable sealing of the sample can 42. After each sampling and delivery, the six-degree-of-freedom platform 72 drives the lunar soil bucket 52 to move to the next sampling point. In this embodiment, sampling is performed at a total of 5 positions, such as Figure 4 shown.

[0082] The parameters of the 5 sampling tests are as follows:

[0083]

[0084] After all test conditions are completed, the test data is saved and the lunar surface sample collection device 3 returns to the parking configuration.

[0085] Step S5: Stop the liquid nitrogen circulation system 212 to pass liquid nitrogen to the heat sink 211, wait until the temperature of each device and apparatus in the vacuum tank 11 returns to normal temperature of 20°C, then turn off the power supply of the molecular pump 123 and the molecular pump valve 124, open the air inlet and outlet valve 111, restore the vacuum tank 11 to normal pressure, open the vacuum tank 11, and take out the sample tank 42.

[0086] At this point, the highly realistic environment lunar sample collection and in-situ packaging tests have been completed.

[0087] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A highly realistic lunar sample collection and in-situ packaging test system, characterized by: It includes a vacuum device, a thermal environment simulation device, a lunar surface sample collection device, a sample packaging device, a lunar soil simulation device, a low-gravity simulation device, a support tooling, and a monitoring and control unit; The simulated lunar soil device provides simulated lunar soil samples for the experiment; The low-gravity simulation device simulates the lunar gravity field for the lunar sample collection device; The supporting tooling is used to install the lunar surface sample collection device and the sample packaging device, and to drive the simulated lunar soil device to move to achieve sampling at different locations; The lunar surface sample collection device is used to collect simulated lunar soil samples and transfer the samples to the sample packaging device; The sample packaging device performs in-situ packaging of the collected samples; The monitoring unit first controls the vacuum device to provide a simulated lunar vacuum environment for the test according to a predetermined procedure; then controls the thermal environment simulation device to provide a lunar deep low temperature and high temperature environment for the test, and at the same time actively controls the temperature of the lunar sample collection device, sample packaging device, and low gravity simulation device to ensure the temperature control requirements of their work; The monitoring and control unit first controls the thermal environment simulation device to place the simulated lunar soil samples in the simulated lunar soil device in a deep low temperature environment below -180°C on the lunar surface and maintain it until the end of the test; then, according to the predetermined procedures, a simulated lunar vacuum environment is provided for the test; then, according to the test requirements, the lunar sample collection device and the sample packaging device are cooled or heated, and at the same time, the lunar sample collection device, the sample packaging device, and the low-gravity simulation device are actively temperature-controlled to ensure their working temperature control requirements; The predetermined procedure is to set at least two pressure holding points during the entire vacuuming process, one pressure holding point has a pressure holding pressure of 8000-12000Pa, and the pressure holding time is 1-2h; the other pressure holding point has a pressure holding pressure of 80-120Pa, and the pressure holding time is 1-2h.

2. The system according to claim 1, characterized in that: The simulated lunar soil samples, basaltic and plagioclase raw materials, simulate the lunar sea, lunar continents or polar lunar soil. The simulated lunar soil particles of different sizes are mixed according to a certain particle size grading, in which the particle size below 1 mm accounts for 70-90%, and the particle size above 1 mm accounts for 10-30%. The simulated lunar soil is compacted by a vibration table to achieve an average density of 65-85%.

3. The system according to claim 1, characterized in that: The low-gravity simulation device includes a rotating support arm and a counterweight; the lunar surface sample collection device includes a space robot arm and a sampler; the support tooling includes a tooling bracket and a six-degree-of-freedom platform; The slewing arm and the space manipulator are both mounted on the tooling bracket in a cantilever manner. The slewing arm includes a mounting bracket, a balancing rod, and a hanging structure. The mounting bracket is used to realize a cantilever connection with the tooling bracket. The balancing rod is mounted below the cantilever end of the mounting bracket through a connecting rod and a hinge. One end of the hanging structure is mounted on the balancing rod through a pulley and a rope, and the other end is connected to the end arm of the space manipulator. The counterweight is mounted on the balancing rod to offset 5 / 6 of the gravity of the space manipulator and simulate the 1 / 6 gravity environment on the lunar surface. A sampler is installed at the end of the space manipulator. A simulated lunar soil device is installed on the six-degree-of-freedom platform, which is used to adjust the angle of the simulated lunar soil device to simulate different terrain features on the lunar surface.

4. The system according to claim 1, characterized in that: The simulated lunar soil device is a lunar soil barrel for holding simulated lunar soil; the lunar soil barrel includes a barrel body, a core barrel and a lunar soil temperature sensor; the outer wall of the barrel body is provided with a hollow interlayer, and liquid inlet joints and liquid outlet interfaces are provided at the upper and lower ends of the outer side of the barrel body; passing liquid nitrogen into the barrel body can provide a deep low temperature environment for the simulated lunar soil; a lunar soil temperature sensor is buried inside the simulated lunar soil to obtain the temperature of the simulated lunar soil; the core barrel is provided with holes and a metal screen is provided on one side in contact with the simulated lunar soil, and the other side is hollow to remove the gas inside the simulated lunar soil; the metal screen realizes the exhaust of the simulated lunar soil in a vacuum environment and ensures that the simulated lunar soil will not leak into the core barrel.

5. The system according to claim 1, characterized in that: The vacuum device includes a vacuum tank, a vacuum pumping unit, a cold plate and a vacuum gauge; the thermal environment simulation device includes a liquid nitrogen refrigeration system and a quartz lamp, wherein the liquid nitrogen refrigeration system is composed of a heat sink and a liquid nitrogen circulation system; the monitoring and control unit includes a temperature sensor, a heating plate, a camera, an LED lamp and peripheral equipment, wherein the peripheral equipment is a power supply, a temperature control management system and a measurement and control computer; The liquid nitrogen circulation system, vacuum pumping unit, vacuum gauge, power supply, temperature control management system and measurement and control computer are all placed outside the vacuum tank. The liquid nitrogen circulation system is connected to the vacuum tank through a cryogenic hose to provide liquid nitrogen for the cold plate and heat sink. The vacuum tank is connected to the vacuum pumping unit through a sealed pipeline, and the vacuum gauge is located on the top of the side wall of the vacuum tank. The cold plate, heat sink, lunar surface sample collection device, sample packaging device, simulated lunar soil device, low-gravity simulation device and supporting tooling are all placed inside the cylindrical vacuum tank.

6. The system according to claim 5, characterized in that: The cold plate and heat sink are composed of a copper plate cavity painted with black paint. The heat sink is installed on the outside of the lunar sample collection device, sample packaging device, simulated lunar soil device, low-gravity simulation device and support tooling, and try to ensure that the distance between the above equipment and the heat sink is not much different. The cold plate is arranged on the outside of the heat sink, close to the exhaust port of the vacuum pumping unit.

7. The system according to claim 5, characterized in that: The low temperature of the lunar sample collection device inside the vacuum tank is a low-temperature test environment achieved by introducing liquid nitrogen into the heat sink to cool the heat sink cylinder; the high temperature is a high-temperature environment achieved by heating with a quartz lamp; and the high and low temperature alternating environment regulation in the vacuum tank is achieved by alternating between liquid nitrogen cooling of the heat sink and heating with a quartz lamp to meet different high and low temperature test requirements on the lunar surface.

8. The system according to claim 5, characterized in that: The vacuum pumping unit uses the pre-pump to pump the pressure in the vacuum tank to below 0.1Pa, then passes liquid nitrogen to the cold plate. When the temperature of the cold plate drops below -180℃, the molecular pump is turned on to reduce the pressure in the vacuum tank to 10 -3 Below Pa.

9. A highly realistic lunar sample collection and in-situ packaging test method implemented by the highly realistic lunar sample collection and in-situ packaging test system according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1: Check system parameter settings and working status; S2: Control the thermal environment simulation device to place the simulated lunar soil sample in the simulated lunar soil device in a deep low temperature environment below -180°C on the lunar surface and maintain it until the end of the test; evacuate the sample according to the predetermined procedure; S3. Cool down or heat up the lunar sample collection device and sample packaging device according to the test requirements, and actively control the temperature through the monitoring and control unit; S4: After all environmental and device parameters meet the conditions required for the test, the lunar surface sample collection device is controlled by the measurement and control computer to simulate lunar soil sampling. After sampling, the sample is sent to the sample packaging device for sample packaging. After all test conditions are completed, the test data is saved and the lunar surface sample collection device is restored to the parking configuration; S5: Stop the temperature control in S3, wait until the temperature of each device and installation in the vacuum tank returns to normal temperature and pressure, and then take out the sample tank used to hold the simulated lunar soil sample.

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